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make setJointPosMultiDof and setJointVelMultiDof argument const.

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add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
This commit is contained in:
erwincoumans
2018-11-10 14:26:31 -08:00
parent 642c6a71d2
commit 17219f84c6
14 changed files with 512 additions and 36 deletions
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4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -396,7 +396,7 @@ void btMultiBody::setJointPos(int i, btScalar q)
m_links[i].updateCacheMultiDof();
}
void btMultiBody::setJointPosMultiDof(int i, btScalar *q)
void btMultiBody::setJointPosMultiDof(int i, const btScalar *q)
{
for (int pos = 0; pos < m_links[i].m_posVarCount; ++pos)
m_links[i].m_jointPos[pos] = q[pos];
@@ -409,7 +409,7 @@ void btMultiBody::setJointVel(int i, btScalar qdot)
m_realBuf[6 + m_links[i].m_dofOffset] = qdot;
}
void btMultiBody::setJointVelMultiDof(int i, btScalar *qdot)
void btMultiBody::setJointVelMultiDof(int i, const btScalar *qdot)
{
for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
m_realBuf[6 + m_links[i].m_dofOffset + dof] = qdot[dof];

4
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -235,8 +235,8 @@ public:
void setJointPos(int i, btScalar q);
void setJointVel(int i, btScalar qdot);
void setJointPosMultiDof(int i, btScalar *q);
void setJointVelMultiDof(int i, btScalar *qdot);
void setJointPosMultiDof(int i, const btScalar *q);
void setJointVelMultiDof(int i, const btScalar *qdot);
//
// direct access to velocities as a vector of 6 + num_links elements.